Place a large saucepan over medium heat. Add the ground beef and break it up with a spoon as it cooks. You want it very fine, not chunky.
Add the finely chopped onion and continue cooking until the beef is fully browned and the onions are soft.
Drain excess grease if needed, but leave a little for flavor.
Stir in the beef broth, tomato sauce, tomato paste, mustard, Worcestershire sauce, and vinegar.
Add the sugar, paprika, chili powder, garlic powder, onion powder, cloves, cinnamon, salt, and black pepper.
Stir well and bring the mixture to a gentle simmer.
Reduce heat to low and let the sauce simmer uncovered for 45–60 minutes, stirring occasionally.
If the sauce thickens too much, add a splash of broth or water.
Taste and adjust seasoning before serving.